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SYSTEMS
BASED ON THE INPUT AND OUTPUT
CHARECTARISTICS OF THE SYSTEM
LINEAR SYSTEMS
NON LINEAR SYSTEMS
LINEAR SYSTEMS
Homogeneity Principle
Superposition Principle
Y1(t)=A1x1(t)
Y2(t)=A2x2(t)
A1x1(t)+ A2x2(t)=y3(t)
Then if y3(t)= Y1(t)+ Y2(t)
------------------------------------
Saturation
Friction
Backlash
DeadZone or DeadBand
Hysterisis
Relays
Advantages of linearisation
Easy to construct mathematical models
Easy to design and analyse by use of transfer function based
techniques(i.e. Time domain and frequency domain)
The non linearties are small than the results obtained from linear
analysis do not differ from actual results
Jump resonance
hormonic oscillations
Limit cycles ete
Jump Resonance
In the frequency response of nonlinear systems, the amplitude of
the response (output) may jump
from one point to another from
increasing or decreasing nature of
frequency.This phenomenon is
called jump resonance
Example: A second order system
with spring damper
b
x
M
K = K 1x + K2x3
Fcos(wt)
c
a) K= 0, b) K>0 Hard spring c) K<0 Soft spring
B Sin (wt+)
Linear System
A Sin(wt)
Non-Linear System
Where n= 0 to
Limits Cycles
The response of the non-linear systems(o/p)
may exhibit oscillations with fixed frequency and
amplitude
These oscillations are called Limit Cycles
Singular points
When the all the phase
variables does not
changes with
respective to time i.e
reaching to a constant
point (may be origin,
equilibrium point
=1
Phase trajectory of a second order system for
different values of and for initial condition x1(0)
Phase Trajectories
The state equation of second order system is
dX1/dt = f1(x1,x2) ---(1)
dX2/dt= f2(x1,x2) ----(2)
Where X1, X2 state variables
dX2/dX1 = f2(x1,x2)/ f1(x1,x2)------- (3)
Equations 3 provides slope of the phase trajectory at
every point in phase plane except at singular points
(Which is indeterminate)
Numerical method
trajectory for given set of initial conditions
Graphically
Popularly known method are
Isoclines method
Delta Method.
Note 2
The accuracy of the trajectory is closely related to the
spacing of the isoclines the phase trajectory will be more
accurate if large number of isoclines are used which are very
close to each other. It should be noted that using a set of
isoclines, any number of isoclines can be constructed.
X2
S7=0.5
(.5,2.5)
(1.5,2.1)
(.25,1.25)
(1,1.4)
(1,.6)
(.25,-.8)
S6=-1
(1,-.63)
(1,-.77)
(1,-1.5)
S5=-2
(2,1.2)
X1
(2,-.86)
S1=2
S2=1.5
(.75,-2.5)
(2,-2.5)
S3=.5
S4=0
=4|x2|x2
X2
Center
0(A)
C1
-.1875(B)
-.140625
C2
-.325(C)
-.4225
C3
-.375(D)
-.5625
C4
-.4375(E)
.765625
C5
.....
......
......
.....
......
..
X2
C1
C2 C3 C4
C5
A(1,0)
B(..,-.1875)
D(..,-.5625)
C(..,-.325)
X1
Thank You